FeedingEquip_OutStore.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class FeedingEquip
{
#region 出料流程
private int OutStoreHeight = -1;
private int OutStoreCount = -1;
private TaskData taskData = null;
private InOutParam LastOutParam = new InOutParam();
private bool NeedCheckShelf = true;
public bool StartTrayOut(InOutParam outParam)
{
if (outParam == null || outParam.PosId == null || outParam.PosId.Equals(""))
{
LogUtil.error(Name + "出库失败，参数不完整，托盘先离开");
TrayMoveOk();
LogUtil.error(outParam.ToStr());
return false;
}
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.LOW) || OutStoreHeight < 0)
{
LogUtil.error(Name + "出库" + outParam.ToStr() + "失败，未准备好料架，托盘先离开");
TrayMoveOk();
return false;
}
//如果已经开始送出料架，暂不处理
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && MoveInfo.MoveStep >= LineMoveStep.FO_51_BatchAxisToP2)
{
LogUtil.error(Name + "出库" + outParam.ToStr() + "失败，正在送出料架，托盘先离开");
TrayMoveOk();
return false;
}
if (!MoveInfo.MoveType.Equals(LineMoveType.None))
{
return false;
}
runStatus = LineRunStatus.Busy;
string lastXuniRfid = LastOutParam.rfid;
if (lastXuniRfid.Equals("") || lastXuniRfid.Equals(outParam.rfid))
{
//如果虚拟料架号为空，或者虚拟料架号与当前一致才可以出库
}
else
{
//料架号不一致时，直接送出料架
//如果流水线还有次料架的任务，暂不送出
int count = TrayManager.GetOutTaskByRfid(lastXuniRfid);
if (count <= 0)
{
LogUtil.info(Name + "出库" + outParam.ToStr() + "失败，料架号不一致[" + lastXuniRfid + "][" + outParam.rfid + "]，当前料架暂时无任务，送出料架，托盘先离开");
TrayMoveOk();
MoveInfo.NewMove(LineMoveType.OutStore, LastOutParam);
SendOutShelfOut("料架号[" + lastXuniRfid + "][" + outParam.rfid + "]不一致");
return false;
}
else
{
LogUtil.info(Name + "出库" + outParam.ToStr() + "失败，料架号不一致[" + lastXuniRfid + "][" + outParam.rfid + "]，当前料架还有【" + count + "】个任务，托盘先离开");
TrayMoveOk();
return false;
}
}
MoveInfo.NewMove(LineMoveType.OutStore, outParam);
LastOutParam = outParam;
//可以开始出库啦
MoveInfo.NextMoveStep(LineMoveStep.FO_21_AxisDownMove);
// CylinderMove(MoveInfo, IO_Type.SW_LocationCylinder_Down, IO_Type.SW_LocationCylinder_Up);
int height = outParam.PlateH + 4;
int targetPosition = BatchAxis.GetAclPosition() - height * Config.Height_ChangeValue;
if (targetPosition < Config.BatchAxisP2)
{
targetPosition = Config.BatchAxisP2;
}
OutLog("出库移栽 " + MoveInfo.SLog + " ：提升伺服下降" + height + "mm，目标：" + targetPosition);
if (UpdownIsInP1() )
{
//已经在取料端
if (CylinderIsOk(IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take))
{
int targetP = Config.GetUpdownP2Detial(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
UpdownAxis.AbsMove(MoveInfo, targetP, Config.UpdownAxis_P2Speed);
}
else if (UpdownIsInP1())
{
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
}
else
{
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_P2Speed);
return true;
}
public void StartOutStoreP()
{
if (OutStoreHeight >= 0)
{
//判断是否需要送出料架
if (CurrShelfId != "" && CurrShelfId != "00" && LastOutParam.rfid != "")
{
//重新获取剩余任务
string msg = SServerManager.afterPutCut(Name, CurrShelfId, "", "", 0, out taskData);
if (String.IsNullOrEmpty(msg).Equals(false) || taskData == null)
{
LogUtil.error(Name + "定时获取 " + LastOutParam.ToShortStr() + " 剩余任务出错：" + msg);
}
else if (LastOutParam.cutReel && taskData.cutTask <= 0)
{
MoveInfo.NewMove(LineMoveType.OutStore, LastOutParam);
LogUtil.info(Name + "定时获取到 " + LastOutParam.ToShortStr() + " 已无剩余任务：" + taskData.ToStr());
SendOutShelfOut("分盘料，cutTask=" + taskData.cutTask + "，需要送出料架");
}
else if (LastOutParam.urgentReel && taskData.urgentTask <= 0)
{
MoveInfo.NewMove(LineMoveType.OutStore, LastOutParam);
LogUtil.info(Name + "定时获取到 " + LastOutParam.ToShortStr() + " 已无剩余任务：" + taskData.ToStr());
SendOutShelfOut("紧急料，urgentTask=" + taskData.urgentTask + "，需要送出料架");
}
}
return;
}
//若定位工位，阻挡工位，有 料架，直接进入定位工位，并上升好位置，若需要出库，直接下降高度即可
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
StartOutStoreMove(null);
}
else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
//小车到达处理
}
else if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{
//线体出口检测到料架，需要通知AGV小车
// AgvClient.NeedLeave(Config.AgvOutName);
}
}
public override bool StartOutStoreMove(InOutParam param)
{
runStatus = LineRunStatus.Busy;
MoveInfo.NewMove(LineMoveType.OutStore);
MoveInfo.MoveParam = new InOutParam();
taskData = null;
RFIDData data = RFIDManager.GetShelfId(DeviceID);
//判断是哪个工位有料架
if (data.Num > 0 && IsTrayLCylinderAfter())
{
OutLog("定位工位读取到料串 " + data.NumStr() + " ， 等待定位工位检测信号亮");
FO_06_WaitTime(true);
}
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH) && IsTrayLCylinderAfter())
{
FO_06_WaitTime();
}
else
{
//如果升降盘在锁紧状态，需要返回P2
if (IsTrayLCylinderAfter())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_02_TrayLocation_After);
OutLog("准备出库料架， " + MoveInfo.SLog + " ：升降盘定位气缸后退");
TrayLCylinderAfter(MoveInfo);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_01_BatchAxisToP2);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
OutLog("准备出库料架，升降盘不在后退端 " + MoveInfo.SLog + " ：提升伺服先回到P2 ["+ Config.BatchAxisP2 + "]");
}
}
return true;
}
private void FO_06_WaitTime(bool needWaitCheck = false)
{
//定位工位有料架，等待1秒后再次检测
MoveInfo.NextMoveStep(LineMoveStep.FO_06_WaitTime);
if (needWaitCheck)
{
OutLog("定位工位读取到料串： " + MoveInfo.SLog + "，进料阻挡上升，缓冲阻挡上升， 等待定位工位信号");
}
else
{
OutLog("准备出库料架 " + MoveInfo.SLog + "定位工位检测到料架：进料阻挡上升， 等待3秒再次检测");
}
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
if (needWaitCheck)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.HIGH));
}
}
private void LineOutStoreProcess()
{
//判断是哪个工位有料架
RFIDData data = RFIDManager.GetShelfId(DeviceID);
if (data.Num > 0)
{
OutLog("定位工位读取到料串 " + data.NumStr() + " ， 等待定位工位检测信号亮");
FO_06_WaitTime(true);
}
else if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
FO_06_WaitTime();
}
//阻挡工位有料架，流水线转动一个工位
else if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_05_LineStart);
OutLog("准备出库料架： " + MoveInfo.SLog + " 阻挡工位有新料架，清理缓存料架RFID，进料阻挡下降500ms，缓冲阻挡前进1000，流水线转动 5000");
UpdateLastShelfID();
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.HIGH, 1500);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.HIGH, 1000);//缓冲阻挡前进1000
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(6000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Line_Run, IO_VALUE.HIGH));
}
else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_05_LineStart);
OutLog("准备出库料架： " + MoveInfo.SLog + " 进料口有新料架，进料阻挡上升，缓冲阻挡前进1000，流水线转动 1000");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);//进料阻挡上升
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.HIGH, 1000);//缓冲阻挡前进1000
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Stop_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Line_Run, IO_VALUE.HIGH));
}
else
{
if (!ProcessShelfEnter)
{
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
}
MoveEndS();
OutLog(" 未检测到料架， 准备出库料架结束");
}
}
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(LineMoveStep.FO_01_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_02_TrayLocation_After);
TrayLCylinderAfter(MoveInfo);
OutLog("准备出库料架， " + MoveInfo.SLog + " ：升降盘定位气缸后退");
}
else if (MoveInfo.IsStep(LineMoveStep.FO_02_TrayLocation_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_03_FixedUp);
OutLog("出库： " + MoveInfo.SLog + " 开始：固定气缸上升");
FixedCylinderUp(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_03_FixedUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_04_LocationDown);
OutLog("出库： " + MoveInfo.SLog + " 开始：定位气缸下降，提升轴移动到P1");
LocationCylinderDown(MoveInfo);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_04_LocationDown))
{
LineOutStoreProcess();
}
else if (MoveInfo.IsStep(LineMoveStep.FO_05_LineStart))
{
LineOutStoreProcess();
}
else if (MoveInfo.IsStep(LineMoveStep.FO_06_WaitTime))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_06_WaitTime);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(20000));
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
ReadShelfId();
if (CurrShelfId.EndsWith("00"))
{
SendOutShelfOut("料架号【" + CurrShelfId + "】无效");
return;
}
//判断是否是第一次获取料架，需要从服务器获取此料架的虚拟料架号，若无虚拟料架号，料架可以用
//有虚拟料架号，从服务器获取此料架剩余任务，若无任务，需要送出料架
if (LastOutParam.rfid.Equals("") && NeedCheckShelf)
{
//只有启动后第一个料架才需要验证
NeedCheckShelf = false;
string tempRfid = "";
string msg = SServerManager.findTempRfid(Name, CurrShelfId, out tempRfid);
if (!String.IsNullOrEmpty(msg))
{
LogUtil.error(Name + "findTempRfid 【" + CurrShelfId + "】【" + tempRfid + "】结果：" + msg);
}
if (!String.IsNullOrEmpty(tempRfid))
{
//如果虚拟料架号存在，直接送出料架
SendOutShelfOut("料架【" + CurrShelfId + "】【" + tempRfid + "】已绑定，不再使用");
return;
}
}
//定位工位有料架，直接开始入料
MoveInfo.NextMoveStep(LineMoveStep.FO_07_LocationUp);
OutLog("定位工位检测到料架： " + MoveInfo.SLog + " 定位气缸上升，读取并缓存料架RFID");
UpdateLastShelfID(CurrShelfId);
LocationCylinderUp(MoveInfo);
}
else
{
MoveEndS();
OutLog(" 未检测到料架，料架处理结束");
}
}
else if (MoveInfo.IsStep(LineMoveStep.FO_07_LocationUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_08_FixedDown);
OutLog("准备出库料架： " + MoveInfo.SLog + " 固定气缸下降");
FixedCylinderDown(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_08_FixedDown))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_11_BatchAxisToP2);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：提升轴下降到位P2[" + Config.BatchAxisP2 + "]");
if (!ProcessShelfEnter)
{
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
}
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_11_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_12_TrayLocation_Before);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：升降盘定位气缸第一次前进 2秒");
TrayLCylinderBefore(null);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.IsStep(LineMoveStep.FO_12_TrayLocation_Before))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_13_TrayLocation_Back);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：升降盘定位气缸后退，等待再次前进");
TrayLCylinderAfter(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_13_TrayLocation_Back))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_14_TrayLocation_Before);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：升降盘定位气缸前进");
TrayLCylinderBefore(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_14_TrayLocation_Before))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_15_AxisUpMove);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：上料轴开始慢速上升到P3点，等待检测到料盘");
BatchAxisToP3();
}
else if (MoveInfo.IsStep(LineMoveStep.FO_15_AxisUpMove))
{
//判断信号是否亮
if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW))
{
OutStoreHeight = 0;
OutStoreCount = 0;
//如果再出库中直接出库
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
OutLog("准备出库料架完成");
}
else
{
//检测到料盘，需要下降指定高度，此处默认下降2cm
int tp = BatchAxis.GetAclPosition() - Config.Height_ChangeValue * 20;
if (tp < Config.BatchAxisP2)
{
OutLog("准备出库料架 " + MoveInfo.SLog + " ：检测到料盘，下降的目标高度为【" + tp + "】<【" + Config.BatchAxisP2 + "】，料架已满，直接送出料架");
MoveInfo.NextMoveStep(LineMoveStep.FO_51_BatchAxisToP2);
OutLog("出库移栽 " + MoveInfo.SLog + "：提升伺服到P2点 [" + Config.BatchAxisP2 + "]");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_15_AxisUpMove);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：检测到料盘，需要下降指定高度，目标位置：" + tp + ",等待检测不到料盘");
MoveInfo.TimeOutSeconds = 200;
MoveInfo.CanWhileCount = 0;
MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, tp, Config.BatchAxis_P3Speed));
Config.Batch_Axis.TargetPosition = tp;
BatchAxis.AbsMove(null, tp, Config.BatchAxis_P3Speed);
//开始检测信号
BatchAxisStartCheck(IO_Type.SL_AxisLocationCheck, IO_VALUE.LOW);
}
}
}
else if (MoveInfo.IsStep(LineMoveStep.FO_51_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_52_TrayLocation_After);
OutLog("送出料串： " + MoveInfo.SLog + "： 升降盘定位气缸后退，重置 OutEndSendShelfOut=fasle ，OutStoreCount = 0");
OutEndSendShelfOut = false;
OutStoreHeight = -1;
OutStoreCount = 0;
TrayLCylinderAfter(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_52_TrayLocation_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_53_BatchAxisToP1);
OutLog("送出料串： " + MoveInfo.SLog + "：提升伺服到P1点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_53_BatchAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_54_FixedUp);
OutLog("送出料串： " + MoveInfo.SLog + "：固定气缸上升，定位气缸下降");
FixedCylinderUp(MoveInfo);
LocationCylinderDown(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_54_FixedUp))
{
if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH) && HasOutLine)
{
MoveInfo.NextMoveStep(LineMoveStep.FO_55_OutCheck);
OutLog("送出料串： " + MoveInfo.SLog + "，出料线体转动5秒，等待出料线体无料架，");
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Out_Check, IO_VALUE.LOW));
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_55_OutCheck);
OutLog("送出料串： " + MoveInfo.SLog + "，等待出料线体无料架");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Out_Check, IO_VALUE.LOW));
}
}
else if (MoveInfo.IsStep(LineMoveStep.FO_55_OutCheck))
{
if (!ProcessShelfOut)
{
if (IsFixedCylinderUp())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_56_TopUp);
OutLog("送出料串： " + MoveInfo.SLog + "，顶升气缸上升，出料缓冲阻挡上升");
TopCylinderUp(MoveInfo);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
}
else
{
OutLog("送出料串： " + MoveInfo.SLog + "，顶升气缸上升时发现固定气缸不在上升端，重新上升固定气缸");
MoveInfo.NextMoveStep(LineMoveStep.FO_54_FixedUp);
OutLog("送出料串： " + MoveInfo.SLog + "：固定气缸上升，定位气缸下降");
FixedCylinderUp(MoveInfo);
LocationCylinderDown(MoveInfo);
}
}
}
else if (MoveInfo.IsStep(LineMoveStep.FO_56_TopUp))
{
//TODO
MoveInfo.NextMoveStep(LineMoveStep.FO_57_SideWayLineRun);
OutLog("送出料串： " + MoveInfo.SLog + "， 线体横移电机运转，等待料架离开定位工位");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_RollerLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(LineMoveStep.FO_57_SideWayLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_58_WaitShelfGo);
OutLog("送出料串：" + MoveInfo.SLog + "， 线体横移电机运转，等待料架到达出口");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_RollerLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Out_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(LineMoveStep.FO_58_WaitShelfGo))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_59_WaitTime);
OutLog("送出料串：" + MoveInfo.SLog + "， 横移电机再转动3秒，等待料架到达出口");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_RollerLine_Run, IO_VALUE.HIGH);
int time = 200;
if (HasOutLine)
{
time = 3000;
}
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(time));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Out_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(LineMoveStep.FO_59_WaitTime))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_60_LineStop);
OutLog("送出料串： " + MoveInfo.SLog + "， 料架到达出口，线体横移电机停止 ");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_RollerLine_Run, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.IsStep(LineMoveStep.FO_60_LineStop))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_61_TopDown);
OutLog("送出料串： " + MoveInfo.SLog + "， 料架到达出口，顶升气缸下降 ,清空LastOutParam，清理料架号，清理RFID缓存 ");
UpdateLastShelfID();
TopCylinderDown(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
LastOutParam = new InOutParam();
//清理RFID
RFIDManager.ClearTrayNum(DeviceID);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_61_TopDown))
{
if (HasOutLine)
{
MoveInfo.NextMoveStep(LineMoveStep.FO_62_OutLineRun);
OutLog("送出料串： " + MoveInfo.SLog + "， 出料线阻挡上升，出料线体转动5秒钟 或等待出料口信号亮");
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
if (IOValue(IO_Type.SL_OutLine_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_OutLine_Check, IO_VALUE.HIGH));
}
}
else
{
MoveEndS();
OutLog("送出料串： " + MoveInfo.SLog + "， 料架到达出口处, 通知AGV取空料架, 出料结束");
AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, Asa.ClientLevel.High);
}
}
else if (MoveInfo.IsStep(LineMoveStep.FO_62_OutLineRun))
{
MoveEndS();
OutLog("送出料串： " + MoveInfo.SLog + "， 出料线体停止，料架到达出口处, 通知AGV取空料架, 出料结束");
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.LOW);
AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, Asa.ClientLevel.High);
}
else if (MoveInfo.MoveStep >= LineMoveStep.FO_21_AxisDownMove && MoveInfo.MoveStep < LineMoveStep.FO_51_BatchAxisToP2)
{
TrayOutProcess();
}
else
{
LogUtil.error(Name + " " + MoveInfo.MoveType + MoveInfo.SLog + "未找到相关处理", 19);
}
}
private void TrayOutProcess()
{
string outType = "紧急出料 ";
if (MoveInfo.MoveParam != null && MoveInfo.MoveParam.cutReel)
{
outType = "分盘料 ";
}
if (MoveInfo.IsStep(LineMoveStep.FO_21_AxisDownMove))
{
//判断伺服检测信号是否亮
//if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) || BatchAxis.IsInPosition(Config.BatchAxisP2))
if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.HIGH) && BatchAxis.IsInPosition(Config.BatchAxisP2).Equals(false))
{
//可以开始出库啦
MoveInfo.NextMoveStep(LineMoveStep.FO_21_AxisDownMove);
int height = MoveInfo.MoveParam.PlateH + 4;
int targetPosition = BatchAxis.GetAclPosition() - height * Config.Height_ChangeValue;
if (targetPosition < Config.BatchAxisP2)
{
targetPosition = Config.BatchAxisP2;
}
OutLog("出库移栽 " + MoveInfo.SLog + " ：TrayOutProcess 伺服检测信号亮并且不再P2点，再次下降" + height + "mm，目标：" + targetPosition);
BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_P2Speed);
}
else
{
if (CylinderIsOk(IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take))
{
int targetP = Config.GetUpdownP2Detial(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
if (UpdownAxis.IsInPosition(targetP))
{
FO_25_CylinderTighten(outType);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_23_UpdownAxisToP2);
OutLog(outType + MoveInfo.SLog + "：升降伺服下降到P2：" + targetP);
UpdownAxis.AbsMove(MoveInfo, targetP, Config.UpdownAxis_P2Speed);
}
}
else
{
if (UpdownIsInP1())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_22_CylinderTake);
OutLog(outType + MoveInfo.SLog + "：上料横移机构取料端，等待夹爪无料");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_ClampCylinder_Check, IO_VALUE.LOW));
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_21_AxisDownMove);
OutLog(outType + MoveInfo.SLog + "：上料横移机构取料端 前升降轴先到P1 [" + Config.UpDownAxisP1 + "]");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
}
}
}
else if (MoveInfo.IsStep(LineMoveStep.FO_22_CylinderTake))
{
if (CylinderIsOk(IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_23_UpdownAxisToP2);
int targetP = Config.GetUpdownP2Detial(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
OutLog(outType + MoveInfo.SLog + "：升降伺服下降到P2：" + targetP);
UpdownAxis.AbsMove(MoveInfo, targetP, Config.UpdownAxis_P2Speed);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_22_CylinderTake);
OutLog(outType + MoveInfo.SLog + "：上料横移机构取料端");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
}
else if (MoveInfo.IsStep(LineMoveStep.FO_23_UpdownAxisToP2))
{
FO_25_CylinderTighten(outType);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_24_CylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_25_CylinderTighten);
OutLog(outType + MoveInfo.SLog + "：上料气缸夹紧");
CylinderMove(MoveInfo, IO_Type.SL_ClampCylinder_Relax, IO_Type.SL_ClampCylinder_Work);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_25_CylinderTighten))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_26_UpdownAxisToP1);
OutLog(outType + MoveInfo.SLog + "：升降伺服到P1");
if (!UpdownAxis.IsInPosition(Config.UpDownAxisP1))
{
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
}
else if (MoveInfo.IsStep(LineMoveStep.FO_26_UpdownAxisToP1))
{
if (UpdownIsInP1())
{
if (IOValue(IO_Type.SL_ClampCylinder_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_27_ClampCheck);
OutLog(outType + MoveInfo.SLog + "：检测夹爪料盘检测=HIGH");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_ClampCylinder_Check, IO_VALUE.HIGH));
}
else
{
FO_28_CylinderGive(outType);
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_26_UpdownAxisToP1);
OutLog(outType + MoveInfo.SLog + "：上料横移机构到放料端前，先升降轴先到P1 [" + Config.UpDownAxisP1 + "]");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
}
else if (MoveInfo.IsStep(LineMoveStep.FO_27_ClampCheck))
{
FO_28_CylinderGive(outType);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_28_CylinderGive))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_29_UpdownAxisToP3);
OutLog(outType + MoveInfo.SLog + "：移栽伺服到P3 [" + Config.UpDownAxisP3 + "]");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP3, Config.UpdownAxis_P3Speed);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_29_UpdownAxisToP3))
{
OutStoreHeight += MoveInfo.MoveParam.PlateH;
OutStoreCount++;
MoveInfo.NextMoveStep(LineMoveStep.FO_30_CylinderSlack);
OutLog(outType + MoveInfo.SLog + "：出料横移机构放松，累积出库【" + OutStoreCount + "】盘【" + OutStoreHeight + "】mm");
CylinderMove(MoveInfo, IO_Type.SL_ClampCylinder_Work, IO_Type.SL_ClampCylinder_Relax);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_30_CylinderSlack))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_31_UpdownAxisToP1);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
OutLog(outType + MoveInfo.SLog + "：移栽伺服上升到待机点P1，通知服务器 afterPutCut");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
afterPutOk = false;
string msg = SServerManager.afterPutCut(Name, CurrShelfId, MoveInfo.MoveParam.WareCode, "", OutStoreCount, out taskData);
if (String.IsNullOrEmpty(msg).Equals(false))
{
LogUtil.error(Name + "【" + MoveInfo.MoveParam.WareCode + "】【" + CurrShelfId + "】【" + OutStoreCount.ToString() + "】afterPutCut 结果：" + msg);
taskData = null;
}
afterPutOk = true;
}
else if (MoveInfo.IsStep(LineMoveStep.FO_31_UpdownAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_32_ClampCheck);
OutLog(outType + MoveInfo.SLog + "：检测夹爪料盘检测=LOW");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_ClampCylinder_Check, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(LineMoveStep.FO_32_ClampCheck))
{
if (UpdownIsInP1())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_33_CylinderTake);
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
//只有提升轴位置过低时才需要到P3
int currPosition = BatchAxis.GetAclPosition();
if (currPosition <= (Config.BatchAxisP2 + Config.Height_ChangeValue * 40))
{
OutLog(outType + MoveInfo.SLog + "：上料横移机构回到取料端，提升轴[" + currPosition + "]需要到P3");
BatchAxisToP3();
}
else
{
OutLog(outType + MoveInfo.SLog + "：上料横移机构回到取料端，提升轴[" + currPosition + "]不需要到P3");
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_31_UpdownAxisToP1);
OutLog(outType + MoveInfo.SLog + "：上料横移机构取料端 前升降轴先到P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
}
else if (MoveInfo.IsStep(LineMoveStep.FO_33_CylinderTake))
{
if (afterPutOk)
{
//出库结束 TODO
// bool isNeedSendShelf = false;
//判断料架是否满了
int currPositon = BatchAxis.GetAclPosition();
int tp = currPositon - Config.Height_ChangeValue * 40;
if (tp <= Config.BatchAxisP2)
{
SendOutShelfOut("当前提升轴位置：" + currPositon + ",料架已满，需要送出料架");
}
else if (OutEndSendShelfOut)
{
SendOutShelfOut("当前提升轴位置：" + currPositon + ",OutEndSendShelfOut，需要送出料架");
}
else
{
//判断是否需要送出料架'
if (taskData == null)
{
SendOutShelfOut("出料结束，taskData=null，需要送出料架");
}
else if (MoveInfo.MoveParam.cutReel && taskData.cutTask <= 0)
{
SendOutShelfOut("分盘料，cutTask=" + taskData.cutTask + "，需要送出料架");
}
else if (MoveInfo.MoveParam.urgentReel && taskData.urgentTask <= 0)
{
SendOutShelfOut("紧急料，urgentTask=" + taskData.urgentTask + "，需要送出料架");
}
else
{
OutLog("出料完成，出料结束");
MoveEndS();
}
}
ClearTimeoutAlarm("等待给服务器发送afterPut完成超时");
}
else if (MoveInfo.IsTimeOut(60))
{
MoveTimeoutAlarm(MoveInfo, "等待给服务器发送afterPut完成超时");
}
}
}
private void FO_28_CylinderGive(string outType)
{
int trayNum = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.TrayNumber : currTrayNum;
TrayManager.UpdateTrayInfo(trayNum, false);
TrayMoveOk();
MoveInfo.NextMoveStep(LineMoveStep.FO_28_CylinderGive);
OutLog(outType + MoveInfo.SLog + "：更新托盘【"+ trayNum + "】为空，托盘可离开，上料横移机构到放料端 ");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
private bool afterPutOk = false;
private void FO_25_CylinderTighten(string outType)
{
MoveInfo.NextMoveStep(LineMoveStep.FO_25_CylinderTighten);
OutLog(outType + MoveInfo.SLog + "：上料气缸夹紧");
CylinderMove(MoveInfo, IO_Type.SL_ClampCylinder_Relax, IO_Type.SL_ClampCylinder_Work);
}
private void SendOutShelfOut(string msg = "")
{
MoveInfo.NextMoveStep(LineMoveStep.FO_51_BatchAxisToP2);
OutStoreHeight = -1;
//包装料会发往分盘区, 紧急料区, 包装线区
// urgentReel 这个为true是紧急料 出到紧急料区
// cutReel 为true是分盘料,AGV会拉到到分盘区
//料串会发到分盘区和紧急料区
//两个都为false 包装料默认拉到包装线体, 料串默认拉到紧急料区
if (CurrShelfId.Equals("00"))
{
//料架号无效送出的，不发mark
LastOutShelfId = CurrShelfId + "";
}
else
{
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
if (MoveInfo.MoveParam.urgentReel)
{
//紧急料，需要到紧急料区
LastOutShelfId = CurrShelfId + ",urgent";
}
else if (MoveInfo.MoveParam.cutReel)
{
//cutReel 为true是分盘料,AGV会拉到到分盘区
LastOutShelfId = CurrShelfId + ",cut";
}
else
{
LastOutShelfId = CurrShelfId + ",urgent";
}
}
OutLog("紧急出料完成， " + MoveInfo.SLog + "：" + msg + "，送出料串，提升伺服到P2点，重置OutStoreHeight=-1，更新LastOutShelfId=" + LastOutShelfId);
}
#endregion
}
}